DE102013212708B4 - Method and device for carrying out autonomous driving maneuvers of a vehicle - Google Patents

Abstract

Method for executing an autonomous driving maneuver of a vehicle (EF), the vehicle (EF) having an autonomous driving function for autonomous driving of the vehicle (EF), wherein a recording of a driving maneuver carried out by the driver of the vehicle (EF) takes place at the request of the driver, the leading the vehicle from a starting point (A, B) to an ending point (B, C), andexecuting the recorded driving maneuver as an autonomous driving maneuver by the autonomous driving function at the request of the driver from the starting point (A, B) to the ending point (B, C) or from the end point (B, C) to the starting point (A, B), characterized in that several stored driving maneuvers can be carried out one after the other if a continuous driving path of the driving maneuvers can be formed.

Description

The invention relates to a method for carrying out autonomous driving maneuvers of a vehicle, in particular a motor vehicle, according to the preamble of claim 1 and a corresponding device according to the preamble of claim 6.

Today's modern motor vehicles are equipped with a large number of driver assistance systems that make it easier for the driver to drive the vehicle and make it safer. Such assistance systems include parking assistants in their various forms, ranging from simple parking aids with parking instructions to the driver to semi-autonomous or autonomous parking assistants. Assistance systems are also known which carry out a steering intervention in the sense of automatic steering in order to keep the vehicle in the current lane, as is the case, for example, with lane departure warning systems.

In the pamphlet DE 10 2005 037 468 A1 describes a method and a device for supporting a parking process of a vehicle in a parking space that is arranged transversely to the direction of travel. Parking trajectories into the parking space are determined by means of an environment sensor system and an evaluation unit, with the driver selecting the one from the determined parking trajectories that appears favorable to him.

From the pamphlet DE 10 2008 002 699 A1 a device for controlling an automatic steering system is known, in which a predetermined desired direction of travel variable is compared with an actual direction of travel variable and a correction variable is determined from the difference.

From the pamphlet DE 10 2007 061 234 A1 a method and a device for adjusting the guidance of a vehicle in an area that has at least one obstacle is known. Before the vehicle drives into a parking space, a height profile along a parking trajectory is determined and obstacles on the trajectory are detected. Detected obstacles are classified into those that can be traversed and those that cannot be traversed. For obstacles that can be driven over, the speed is selected accordingly during the parking process.

In the pamphlet DE 60 2004 000 669 T2 describes a driver assistance system for a vehicle, which is able to guide a vehicle along a path at a speed dependent on the path.

The pamphlet DE 10 2011 107 974 A1 relates to a method and a maneuvering assistant for maneuvering a vehicle in an environment, wherein in a learning mode the vehicle carries out a reference maneuvering process in the environment, which is stored, and in a repeat maneuvering to be carried out at least semi-autonomously by the vehicle after the learning mode In this environment, the stored reference shunting process is taken into account for repeat shunting.

The pamphlet DE 10 2011 109 492 A1 relates to a driving support device for a motor vehicle to support driving on narrow roads, with a data acquisition unit for acquiring the data of a distance to be covered (trajectory) from wheel and steering angle sensors and a trajectory storage unit for recording distance data and with a control unit for controlling the motor vehicle on the Based on the recorded route data, for driving the recorded route in the same or in the opposite direction, which includes a satellite navigation unit for determining the absolute position of the motor vehicle and digital map data with position attribute data for checking whether the motor vehicle is in the vicinity of road areas with limited navigation options and this in such a case, the recording of a trajectory is suggested to the driver or carried out automatically.

The assistance systems described above are highly complex and require sensitive environmental sensors and sufficient computing capacity to perform their tasks.

The invention is therefore based on the object of developing a method and a device for autonomous maneuvering of a vehicle, the demands on the complexity of the system being low.

This object is achieved by a method for carrying out autonomous driving maneuvers of a vehicle having the features of claim 1 and by a corresponding device having the features of claim 6. Preferred configurations of the invention are the subject matter of the dependent claims.

• - erfolgt eine Aufzeichnung eines vom Fahrer des Fahrzeugs durchgeführten Fahrmanövers auf Anforderung des Fahrers, wobei das Fahrmanöver das Fahrzeug von einem Startpunkt zu einem Endpunkt führt, und
• - erfolgt eine Ausführung des aufgezeichneten Fahrmanövers als autonomes Fahrmanöver durch die autonome Fahrfunktion auf Anforderung des Fahrers von dem Startpunkt zu dem Endpunkt oder von dem Endpunkt zu dem Startpunkt, wobei
• - mehrere gespeicherte Fahrmanöver hintereinander ausführbar sind, wenn sich ein zusammenhängender Fahrschlauch der Fahrmanöver bilden lässt.

In the method according to the invention for executing an autonomous driving maneuver of a vehicle, the vehicle having an autonomous driving function for autonomous driving of the vehicle,

• - A driving maneuver carried out by the driver of the vehicle is recorded at the driver's request, the driving maneuver leading the vehicle from a starting point to an ending point, and
• - The recorded driving maneuver is executed as an autonomous driving maneuver by the autonomous driving function at the driver's request from the starting point to the end point or from the end point to the starting point, wherein
• - Several stored driving maneuvers can be carried out one after the other if a coherent driving path of the driving maneuvers can be formed.

In this way, the driver can easily have recurring short driving maneuvers, such as driving in or out of a garage, recorded so that the driving maneuver can be carried out at the driver's request by the autonomous driving function of the vehicle. In other words, the driver can have the vehicle follow the recorded route autonomously. The method is not limited to simple driving manoeuvres, but complex driving maneuvers with considerable maneuvering effort, such as complicated and/or narrow entrances and exits, can also be recorded so that these can later be reproduced autonomously. This leads to a considerable relief for the driver when maneuvering the vehicle, also from a physical point of view.

Furthermore, several recorded driving maneuvers can be executed one after the other if a coherent driving path of the individual driving maneuvers can be formed. In other words, if the end point of a first recorded driving maneuver coincides with the starting point of a second recorded driving maneuver, both driving maneuvers can be carried out contiguously, which is particularly advantageous in the case of complex driving maneuvers

At least the parameters starting point and end point of the route to be recorded, travel time of the driving maneuver and vehicle speed and steering angle during the driving maneuver are preferably stored for recording the driving maneuver and for the subsequent reconstruction of the driving path for carrying out the autonomous driving maneuver. With these basic parameters, a reconstruction of the driving maneuver or the driving path is basically possible.

More preferably, the starting point and the end point of the recorded driving maneuver have a predefined tolerance range. In other words, in the basic implementation of the method, the driver is responsible for ensuring that the route to be recorded does not lead to a collision with the garage entrance, for example, since the driver has to move the vehicle to the original starting position when following the route autonomously. Since the original starting position can only be reached by the driver within a specified tolerance limit, following the recorded route also only leads to the original end point within the specified tolerance limit. As long as there are no obstructions or collisions with specified boundaries within the tolerance limits, nothing stands in the way of the autonomous execution of a recorded route.

The starting point and end point of the recorded route are preferably determined using a satellite navigation system and/or an odometry system. In this way it is possible to define the route more precisely and to reduce the tolerance limit. Furthermore, the starting point can be determined more easily by the driver by means of the satellite navigation system or the odometry system when the recorded route is repeated autonomously. In addition to satellite navigation, environmental sensors such as ultrasound, radar, lidar and reversing and front camera systems can also be used to improve position determination.

• - die Fahrzeuggeschwindigkeit ist größer als eine vorgegebene Grenzgeschwindigkeit,
• - das Fahrzeug verlässt des rekonstruierten Fahrschlauch des aufgezeichneten Fahrwegs, und
  • - die Umfeldsensorik des Fahrzeugs ermittelt ein Hindernis im rekonstruierten Fahrschlauch des aufgezeichneten Fahrwegs.

More preferably, the autonomous driving function is discarded when driving autonomously along a recorded route if at least one of the following conditions is met:

• - the vehicle speed is greater than a specified limit speed,
• - the vehicle leaves the reconstructed driving path of the recorded driving path, and
  • - the vehicle's environment sensors determine an obstacle in the reconstructed driving path of the recorded route.

A speed of 7 km/h, for example, can be set as the limit speed. If, for whatever reason, this speed is exceeded when executing the autonomous driving function, the autonomous driving function is discarded. Furthermore, the autonomous driving function is dropped during execution if the vehicle moves out of the reconstructed driving path. Finally, it is dropped when an obstacle appears, which is determined by the vehicle's surroundings sensors, which are necessary for the execution of an autonomous driving function.

• - eine Einrichtung zum Aufzeichnen vom Fahrer ausgewählter Fahrmanöver,
• - eine Einrichtung zum Ausführen eines aufgezeichneten Fahrmanövers durch die autonome Fahrfunktion des Assistenzsystems, und

eine Einrichtung zum Hintereinanderausführen aufgezeichneter Fahrmanöver.The device according to the invention, which is designed to carry out the method described above for executing an autonomous driving maneuver of a vehicle and which has an assistance system with an autonomous driving function and an environment sensor system for determining environment data for the autonomous driving function, also includes

• - a device for recording driving maneuvers selected by the driver,
• - a device for executing a recorded driving maneuver by the autonomous driving function of the assistance system, and

a device for executing recorded driving maneuvers one after the other.

• - die Fahrzeuggeschwindigkeit ist größer als eine vorgegebene Grenzgeschwindigkeit,
• - das Fahrzeug verlässt des rekonstruierten Fahrschlauch des aufgezeichneten Fahrwegs, und
• - die Umfeldsensorik des Fahrzeugs ermittelt ein Hindernis im rekonstruierten Fahrschlauch des aufgezeichneten Fahrwegs.

More preferably, the device has a device for dropping the autonomous driving function during the execution of a recorded driving maneuver based on predetermined conditions, the dropping device dropping the autonomous driving function in particular at least on the basis of the following conditions:

• - the vehicle speed is greater than a specified limit speed,
• - the vehicle leaves the reconstructed driving path of the recorded driving path, and
• - the vehicle's environment sensors determine an obstacle in the reconstructed driving path of the recorded route.

The device preferably has a satellite-supported navigation device. In this way, at least the starting point and the end point of a route to be recorded can be determined and stored. Furthermore, the route itself can be determined more precisely and in this way can be understood more precisely when it is executed by the autonomous driving function.

• 1a das Aufzeichnen eines Fahrweges,
• 1b das autonome Abfahren des aufgezeichneten Fahrweges in Vorwärtsrichtung,
• 1c das autonome Abfahren des aufgezeichneten Fahrweges in Rückwärtsrichtung,
• 2a das autonome Abfahren eines zweiten aufgezeichneten Fahrweges,
• 2b das das autonome Abfahren zweier zusammenhängender aufgezeichneter Fahrwege, und
• 3 ein weiteres Beispiel des Abfahrens eines komplexen aufgezeichneten Fahrweges.

A preferred embodiment of the invention is explained below with reference to the drawings. while showing

• 1a the recording of a route,
• 1b autonomous driving along the recorded route in the forward direction,
• 1c driving backwards autonomously along the recorded route,
• 2a driving autonomously along a second recorded route,
• 2 B the autonomous driving along two connected recorded routes, and
• 3 another example of driving along a complex recorded route.

1a shows in an exemplary representation the storage or recording of a route FW1 to be followed by the driver of a vehicle EF, in particular a motor vehicle. The vehicle EF is in a starting position A on a lane FB and is transferred by the driver of the vehicle EF from the starting point A along the route FW1 to an end point B, so that the vehicle EF is then within the in 1 indicated garage G is located. By pressing a recording button (not shown), for example, the route FW1 with the starting point A and the end point B is recorded by an assistance system.

1b shows the situation in which the vehicle EF is at the starting point A. By making a corresponding input to the assistance system, the driver selects the recorded route FW1, which is then executed by the autonomous driving function on the driver's instructions, for example by pressing a "Entrance" button, so that the vehicle reaches end point B in the garage G is turned off.

1c shows the to 1b reverse case. Here the vehicle EF is at the end point B in the garage G and the driver instructs the assistance system, for example by pressing an "Exit" button, to transfer the vehicle EF in the opposite direction along the recorded route FW1 to the recorded starting point A using the autonomous driving function .

2a shows the case where the vehicle EF is in the garage G at the starting point B with respect to another second recorded route FW2. By selecting the second route FW2 and pressing the "Exit" button, the previously recorded second route FW2 is driven backwards and the vehicle is transferred to end point C.

2 B shows the possibility of executing the two recorded routes FW1 and FW2 one after the other. Since the end point B of the first route FW1 in the garage G quasi the starting point B of the second route FW2 of 2a corresponds, both routes FW1 and FW2 can be executed one after the other by the autonomous driving function, so that the vehicle EF comes to a standstill in the rearward direction in the “dead end” of the roadway FB at end point C. From this position C, the driver can then drive the vehicle EF in the forward direction from the dead end of the lane FB to the left in the 2 B drive out.

3 shows a complex driving situation in which the vehicle is at a starting point A. The vehicle is transferred along a first route FW1 on the roadway FB to a first position B, from which the vehicle EF is then transferred along a second route in the reverse direction to a position C in a parking space PL. The prerequisite for autonomous driving along the two routes FW1 and FW2 is that the driver records them once. Once this recording has been made, the vehicle can easily be moved into the parking position in the parking space PL and also out of the parking space PL again using the autonomous driving function. Complex situations of this kind can be found in multi-storey or underground car parks, where the autonomous driving function significantly relieves the driver by driving along the marked routes. Furthermore, a situation is conceivable in which an experienced driver is responsible for recording the routes FW1, FW2, so that a less experienced driver can still use the in 3 can handle the complex driving situations shown with the autonomous driving function.

Reference List

EF

vehicle

FB

roadway

FW1

first route

FW2

second route

G

garage

pl

parking lot

A

starting point

B

end point/start point

C

endpoint

Claims (9)

Method for executing an autonomous driving maneuver of a vehicle (EF), wherein the vehicle (EF) has an autonomous driving function for autonomous driving of the vehicle (EF), wherein a driving maneuver performed by the driver of the vehicle (EF) is recorded at the request of the driver, which leads the vehicle from a starting point (A, B) to an end point (B, C), and an execution of the recorded driving maneuver as an autonomous driving maneuver by the autonomous driving function at the request of the driver from the starting point (A, B) to the end point ( B, C) or from the end point (B, C) to the starting point (A, B), characterized in that several stored driving maneuvers can be carried out one after the other if a continuous driving path of the driving maneuvers can be formed. procedure after claim 1 , characterized in that at least the parameters starting point (A, B), end point (B, C) and travel time of the driving maneuver as well as vehicle speed and steering angle are stored during the driving maneuver for recording the driving maneuver and for the subsequent reconstruction of the driving path for carrying out the autonomous driving maneuver. Procedure according to one of Claims 1 or 2 , characterized in that the starting point (A, B) and the end point (B, C) of the recorded driving maneuver have a predetermined tolerance range. Method according to one of the preceding claims, characterized in that the starting point (A, B) and the end point (B, C) are determined using a satellite navigation system and/or an odometry system. Method according to one of the preceding claims, characterized in that the autonomous driving function is discarded when driving autonomously along a recorded route (FW1, FW2) if at least one of the following conditions is met: the vehicle speed is greater than a predetermined limit speed, the vehicle ( EF) leaves the reconstructed driving path of the recorded route (FW1, FW2), and the vehicle's surroundings sensors (EF) determine an obstacle in the reconstructed driving path of the recorded route. Device for executing an autonomous driving maneuver of a vehicle (EF), wherein the vehicle (EF) has an autonomous driving function for autonomous driving of the vehicle (EF), wherein the device for performing the method according to one of the preceding claims is set up and designed, with a Assistance system comprising an autonomous driving function and an environment sensor system for determining environment data for the autonomous driving function, a device for recording driving maneuvers selected by the driver, and a device for executing a recorded driving maneuver by the autonomous driving function of the assistance system, characterized in that the device has a device for Consecutively running recorded driving maneuvers. device after claim 6 , characterized in that the device has a device for dropping the autonomous driving function during the execution of a recorded driving maneuver based on predetermined conditions. device after claim 7 , characterized in that the ejection device ejects the autonomous driving function at least on the basis of the following conditions: the vehicle speed is greater than a predetermined limit speed, the vehicle leaves the reconstructed driving path of the recorded driving path (FW1, FW2), and the environment sensor system of the vehicle determines an obstacle in the reconstructed Travel path of the recorded route (FW1, FW2). Device according to one of Claims 6 until 8th , characterized in that the device has a satellite-based navigation device.

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